I've actually just come back from a Denmark - Sweden mega trip myself! I went to Liseberg, Tivoli Gardens, Bakken and Legoland Billund, but not Kolmarden unfortunately.
Liseberg was probably my favourite park of the trip, Helix and Balder were both absolutely amazing, as was the drop tower Atmosphere and the log flume. As for the queue times, the park was reasonably busy during the day with the queues around 15-20 minutes for the bigger rides. However at night it died down quite a bit and I managed 5 rides on Helix in about 30 minutes! It is definitely a one day park though, unless it is exceptionally busy. As for a tip, I would definitely recommend booking your ticket online as this gives you access to choose a fastpass for 3 rides of your choice at a certain time slot, which would save you a lot of time if it is busy.
As for Tivoli Gardens, this is a fantastic park to look around. The atmosphere and landscaping in the park is great and it has a really classic feel with all the lighting and game stalls, especially at night. The park is definitely better in the evening when it gets darker. As for the rides, I loved the woodie 'Rutschebanen', its a really classic ride and you get tonnes of airtime. The B&M floorless coaster Dæmonen was also really good, as was Vertigo which is one of the most intense rides I have ever experienced. However the selection of rides isn't that vast and you could definitely do everything in the park relatively quickly as the queues weren't very big at all during my visit. It is good to leave time to look around and sample the food as well though!
Moving onto Bakken. This has a very different feel to the other two amusement parks. The theming and landscaping is obviously not as vast, but the selection of rides is still very good and there are a couple of rides which make it worth the visit. The woodie is good, although not as good as Tivoli's in my opinion, but it is a classic rickety woodie. The best ride in my opinion was Tornado, which is an Intamin spinning coaster. I won't ruin any potential surprises, but it is one of the most bizarre and intense experiences I have ever had on a coaster. As for the queues and time needed for this park. The queues were walk on for every ride during my visit and therefore we did every ride we wanted to go on within a couple of hours at most. Therefore this park is very good just to pop into if you wanted just to do a couple of rides, especially as you can purchase tickets for individual rides, that might be a better option if you don't have much time. It is also very easy to get to from the centre of Copenhagen.
I won't say much about Legoland Billund because that wasn't on your list to visit, but it was a very nice park to visit and is definitely better than Legoland Windsor with a much better and bigger selection of rides!